minkowski_diff.h

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#ifndef FCL_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
#define FCL_NARROWPHASE_DETAIL_MINKOWSKIDIFF_H
 
#include "fcl/math/detail/project.h"
#include "fcl/geometry/shape/shape_base.h"
 
namespace fcl
{
 
namespace detail
{
 
template <typename S, typename Derived>
Vector3<S> getSupport(
    const ShapeBase<S>* shape,
    const Eigen::MatrixBase<Derived>& dir);
 
template <typename S>
struct FCL_EXPORT MinkowskiDiff
{
  const ShapeBase<S>* shapes[2];
 
  Matrix3<S> toshape1;
 
  Transform3<S> toshape0;
 
  MinkowskiDiff();
 
  Vector3<S> support0(const Vector3<S>& d) const;
  
  Vector3<S> support1(const Vector3<S>& d) const;
 
  Vector3<S> support(const Vector3<S>& d) const;
 
  Vector3<S> support(const Vector3<S>& d, size_t index) const;
 
  Vector3<S> support0(const Vector3<S>& d, const Vector3<S>& v) const;
 
  Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v) const;
 
  Vector3<S> support(const Vector3<S>& d, const Vector3<S>& v, size_t index) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
using MinkowskiDifff = MinkowskiDiff<float>;
using MinkowskiDiffd = MinkowskiDiff<double>;
 
} // namespace detail
} // namespace fcl
 
#include "fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h"
 
#endif